Spot crop stress
before it
costs you.
AgroExplorer-001 surveys your entire operation without a pilot — detecting disease, weeds, and anomalies with onboard AI, streaming live telemetry to your ground station, and delivering a complete field intelligence report the moment it lands.
Three-Plane Architecture
AEOS splits control, data, and survival into independent communication planes — mission continuity is maintained even through complete primary-link failure.
Control Plane
MAVLink between the AEOS behavior-tree engine and Pixhawk 6X via MAVProxy on UART at 921 600 baud. Navigator runs at 25 Hz, emitting setpoints from A* voxel path planning.
Data Plane
MQTT carries HMAC-signed telemetry at 5–10 Hz, adaptive JPEG snapshots, compressed depth-map tiles from OAK-D, YOLO detection events, and mission state to the ground station WebSocket.
Survival Plane
LoRa (Heltec SX1262) carries position beacons and out-of-band heal commands — restart Tailscale, switch route, reset modem, reboot Jetson — when both WiFi and 4G are down, with no IP required.
RTL8822CE · M.2 PCIe · powersave off
Probe: 5 s · switch on 3 failures (15 s) · restore on 2 success (10 s)
D-Link DWM-222W · CDC-Ether eth0
Data-path verified at boot · USB-hub reset on error-71
Heltec V3 SX1262 · 115 200 baud
Position beacons · heal-commands when all IP links are down
Percivor Airframe
Holybro X650 quad with guarded rotors, integrated sensor bay, and compute enclosure — purpose-designed for agronomy autonomy missions.
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| Frame | Holybro X650 quad | 650 mm · 6S 16 Ah LiPo |
| FC | Pixhawk 6X | ArduCopter V4.7 · 921 600 baud UART |
| Motors | 4× MN4014 KV330 | 15" props · PWM via FC |
| Compute | Jetson Orin NX 16 GB | NVMe SSD · L4T R35.4.1 |
| Vision | OAK-D Pro | RGB 4K · depth 72° HFOV · Myriad X YOLO |
| GPS | Unicore UM982 | Dual-antenna RTK · 2 cm via NTRIP |
| LiDAR | 2× TFMini Plus | Forward 0.15–12 m · Down AGL 0.1–12 m |
| Flow | HereFlow | CAN · Pixhawk EKF input |
Mission System
Missions are YAML-defined plans parsed and validated by AEOS. The executor runs a strict state machine while A* re-plans through 3D voxel free-space around live obstacles.
Pre-arm gates
HDOP < 2.0 · GPS fix ≥ 3 · battery ≥ 20 % · EKF healthy · Pixhawk heartbeat < 2 s stale.
Param push
AEOS diffs config/ardupilot/x650.yaml against live FC params and pushes any mismatches. NTRIP corrections injected.
Autonomous flight
Navigator at 25 Hz · OAK-D depth integrated at 3 Hz into voxel map · YOLO detections tagged to 3D world positions.
Failsafe return
Triggers on battery < 15 %, geofence breach, watchdog trip, or operator RTL command. LoRa heal available if link is lost.
Mission close-out
Flight data recorder flushed. Mission trace auto-generated. MQTT LWT beacon publishes online: false.
Safety Architecture
Defence-in-depth: hard pre-arm gates, a 2 Hz in-flight watchdog, HMAC-signed telemetry, and ED25519-signed commands — every layer independently verifiable.
Hard block before takeoff
2 Hz continuous monitoring
- Battery < 15 % triggers immediate RTL
- Pixhawk heartbeat lost > 2 s disables arming
- OAK-D subprocess hang → 60 s SIGKILL + USB-VPU power-cycle recovery
- Geofence breach → RTL
- Hardware watchdog: RuntimeWatchdogSec = 300 s
Signed and authenticated
- Every telemetry frame HMAC-signed
- Ground commands signed with ED25519
- SecurityGateway rejects unsigned or replayed packets
- Nonce + timestamp window blocks replay attacks
- Full audit log with HMAC_MISMATCH alerts
AEOS Ground Station
React 18 + Vite operator console with live satellite map, 5–10 Hz telemetry stream, mission controls, OAK-D video feed, YOLO detection thumbnails, and Athena AI assistant.
Flight Trace Intelligence
Auto-generated mission trace maps log coverage paths, altitude profiles, and waypoint timestamps — output immediately after every flight for review and compliance.
NAVIGATE mission auto-planned by AEOS · coverage path · compliance and agronomy review
SURVEY
High-altitude orthomosaic grid. Terrain following, wide safety margins, automated lawnmower path for NDVI/NDRE coverage.
INSPECT
Low-altitude close-inspection. 360° voxel scan at each waypoint before approach. OAK-D depth on full alert.
CORRIDOR
A* planned routes through crop rows and confined passages. Lateral avoidance with YOLO semantic cost overlay.
See AEOS in the field.
Our team configures AgroExplorer to your farm geometry, crop profile, and mission needs — from a single demonstration flight to a full R&D partnership.
info@twoaeon.com · +351 932 340 144